Research on the Stability Control of Quadrotor Based on Arduino

Abstract

This paper presented a modified PID control algorithm named double closed loop PID control algorithm, and verified this algorithm in practice. The new algorithm solves the problem which the miscalculation of Euler angle makes quadrotor unable to adjust flight attitude accurately and quickly. The double closed loop PID control algorithm selects angular velocity as inner loop, because angular velocity collected by gyroscope will not be affected by external interference, and selects angle as outer loop. Similarly, the new algorithm selects acceleration on Z axis as inner loop and selects height as outer loop when applied to regulate position. Finally, the results of simulation and flight experiment proved that the stability and anti-jamming capability of quadrotor are improved by the double closed loop PID control algorithm.